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Hugo Fernando Yamanaka
IFPR - Instituto Federal do Paraná, Avenida Dr. Tito, 810, Jacarezinho, Paraná
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Carlos Alexandre de Souza Bispo
IFPR - Instituto Federal do Paraná, Avenida Dr. Tito, 810, Jacarezinho, Paraná
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Ricardo Breganon
IFPR - Instituto Federal do Paraná, Avenida Dr. Tito, 810, Jacarezinho, Paraná
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Fernando Sabino Fonteque Ribeiro
IFPR - Instituto Federal do Paraná, Avenida Dr. Tito, 810, Jacarezinho, Paraná
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João Paulo Lima Silva de Almeida
IFPR - Instituto Federal do Paraná, Avenida Dr. Tito, 810, Jacarezinho, Paraná
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Uiliam Nelson Lendzion Tomaz Alves
IFPR - Instituto Federal do Paraná, Avenida Dr. Tito, 810, Jacarezinho, Paraná
Keywords:
Aeropendulum, Prototype building, System identification, Tracking system, LQR control
Abstract
In the study of control systems, a piece of equipment used in the literature is the Aeropendulum. This system consists of a pendulum-motor-propeller set coupled to a rotational axis, where the angular displacement of the pendulum happens due to the thrust force of the propeller. So, the motor-propeller set must be activated according to the desired angle for the pendulum. This work presents the construction of a didactic Aeropendulum prototype, which was developed at the Automation Laboratory of the Federal Institute of Paraná (IFPR) – Jacarezinho. After the building of the prototype, a linear model for the system was obtained by carrying out tests in open-loop configuration around an operating point and using the 'ident' tool of the Matlab® software. A tracking controller based on LQR was designed to stabilize the system and make the pendulum angle follow a step-like trajectory. Simulations and experiments with the prototype showed the effectiveness of the proposed strategy.
